Visual SLAM for bronchoscope tracking and bronchus reconstruction in bronchoscopic navigation.
Cheng WangMasahiro OdaYuichiro HayashiTakayuki KitasakaHirotoshi HonmaHirotsugu TakabatakeMasaki MoriHiroshi NatoriKensaku MoriPublished in: Medical Imaging: Image-Guided Procedures (2019)
Keyphrases
- visual slam
- real time
- dynamic environments
- monocular camera
- camera motion
- simultaneous localization and mapping
- bundle adjustment
- computed tomography
- ct data
- three dimensional
- image reconstruction
- image guided
- indoor environments
- structure from motion
- stereo rig
- high resolution
- mobile robot
- particle filter
- motion tracking
- motion segmentation
- robot navigation
- moving camera
- motion estimation
- multiple moving objects
- camera parameters
- kalman filter